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Code Issues Wiki Activity

invert csum in telemetry

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This commit is contained in:
Thorsten Laux 2019-05-02 14:05:38 +02:00
parent 4a7be33c25
commit f1e9c9f19a
3 changed files with 2 additions and 31 deletions
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4
src/main/drivers/pwm_output_dshot_shared.c
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@ -150,7 +150,7 @@ static uint16_t decodeDshotPacket(uint32_t buffer[])
csum = csum ^ (csum >> 8); // xor bytes csum = csum ^ (csum >> 8); // xor bytes
csum = csum ^ (csum >> 4); // xor nibbles csum = csum ^ (csum >> 4); // xor nibbles
if ((csum & 0xf) != 0) { if ((csum & 0xf) != 0xf) {
return 0xffff; return 0xffff;
} }
return value >> 4; return value >> 4;
@ -176,7 +176,7 @@ static uint16_t decodeProshotPacket(uint32_t buffer[])
csum = csum ^ (csum >> 8); // xor bytes csum = csum ^ (csum >> 8); // xor bytes
csum = csum ^ (csum >> 4); // xor nibbles csum = csum ^ (csum >> 4); // xor nibbles
if ((csum & 0xf) != 0) { if ((csum & 0xf) != 0xf) {
return 0xffff; return 0xffff;
} }
return value >> 4; return value >> 4;

8
src/main/fc/core.c
View file

@ -414,14 +414,6 @@ void tryArm(void)
return; return;
} }
#ifdef USE_DSHOT_TELEMETRY
if (isMotorProtocolDshot()) {
pwmWriteDshotCommand(
255, getMotorCount(), motorConfig()->dev.useDshotTelemetry ?
DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY : DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE, false);
}
#endif
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) { if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) { if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false; flipOverAfterCrashActive = false;

21
src/main/fc/init.c
View file

@ -209,20 +209,6 @@ static IO_t busSwitchResetPin = IO_NONE;
} }
#endif #endif
#ifdef USE_DSHOT_TELEMETRY
void activateDshotTelemetry(struct dispatchEntry_s* self)
{
if (!ARMING_FLAG(ARMED) && !isDshotTelemetryActive()) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY, false);
dispatchAdd(self, 1e6); // check again in 1 second
}
}
dispatchEntry_t activateDshotTelemetryEntry =
{
activateDshotTelemetry, 0, NULL, false
};
#endif
void init(void) void init(void)
{ {
@ -794,13 +780,6 @@ void init(void)
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME); setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
dispatchEnable();
dispatchAdd(&activateDshotTelemetryEntry, 5000000);
}
#endif
fcTasksInit(); fcTasksInit();
systemState |= SYSTEM_STATE_READY; systemState |= SYSTEM_STATE_READY;